Heat the milk in a pan over a low heat until it reaches 42oC. Pour the heated milk in to the stand mixer bowl and stir in the sugar and yeast. Whisk in the melted butter and egg until well combined.
Add the flour and salt to the stand mixer bowl. Use the dough hook attachment to combine the ingredients and knead the dough on a low setting for 8 minutes. The dough should not stick to the bowl when kneading. If it’s too sticky add a tsp of flour at a time until it stops sticking.
Cover the bowl with cling film and pop in a warm place until the dough has doubled in size. This could be 1-2 hours depending on the temperature.
When the dough has nearly double in size it’s time to start the glaze. Put the butter, sugar and maple syrup in a pan over a low heat. Stir until the sugar has dissolved and the butter has melted. Pour in to a 24 cm by 40 cm baking tray, sprinkle with the pecans and set to one side.
Make the cinnamon sugar by mixing dark brown sugar with ground cinnamon and set to one side.
Preheat the oven to 190C/fan 175C/gas 5.
When the dough has doubled in size tip it on to a lighly floured surface and use your fist to knock the dough back. Use a rolling pin to roll the dough in to a 24cm by 40 cm rectangle. Remember to flour and flip the dough occasionally to stop it from sticking.
When the dough is the right shape and size rub with the 20g of butter.
Sprinkle the cinnamon sugar evenly over the buttered dough.
Tightly roll up the dough, starting from the longest side, until you reach the end. If the dough is thicker in some parts you can cup your hand over the dough and rub along the roll to even out.
Trim off 2cm from each side and cut in to 9 4cm rolls. Evenly place the cinnamon rolls (swirl side up) on top of the maple glaze, ensuring there is 2 cm gap around each roll. Bake for 20 minutes - 25 minutes, or until lightly golden.
When the cinnamon rolls are slightly golden remove from the oven. Serve glaze side up. Allow the rolls to cool slightly before eating as the glaze will be incredibly hot!